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# Copyright (c) 2018, Fraunhofer FKIE/CMS, Alexander Tiderko
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import os
import rospy
import signal
from fkie_node_manager_daemon.monitor import Service, grpc_msg
import fkie_multimaster_msgs.grpc.monitor_pb2_grpc as mgrpc
import fkie_multimaster_msgs.grpc.monitor_pb2 as mmsg


class MonitorServicer(mgrpc.MonitorServiceServicer):

    def __init__(self, settings):
        rospy.loginfo("Create monitor servicer")
        mgrpc.MonitorServiceServicer.__init__(self)
        self._monitor = Service(settings)

    def stop(self):
        self._monitor.stop()

    def GetSystemDiagnostics(self, request, context):
        rosmsg = self._monitor.get_system_diagnostics(request.level, request.timestamp)
        return grpc_msg(rosmsg)

    def GetSystemWarnings(self, request, context):
        rosmsg = self._monitor.get_system_diagnostics(2, 0)
        return grpc_msg(rosmsg)

    def GetDiagnostics(self, request, context):
        rosmsg = self._monitor.get_diagnostics(request.level, request.timestamp)
        return grpc_msg(rosmsg)

    def GetWarnings(self, request, context):
        rosmsg = self._monitor.get_diagnostics(2, 0)
        return grpc_msg(rosmsg)

    def KillProcess(self, request, context):
        os.kill(request.pid, signal.SIGKILL)
        reply = mmsg.Empty()
        return reply
